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CN-121973865-A - Self-adaptive stair climbing manned stair climbing machine and bionic climbing gait control method

CN121973865ACN 121973865 ACN121973865 ACN 121973865ACN-121973865-A

Abstract

The invention discloses a self-adaptive stair climbing manned stair climbing machine and a bionic climbing gait control method, the stair climbing machine comprises a seat and a driving mechanism, wherein the driving mechanism comprises a self-adaptive stair climbing component, a dynamic gesture stabilizing component and a closed-loop measurement and control module. The self-adaptive stair climbing assembly is alternately switched into a state of being in plane contact with the steps through a turned wheel disc group and a plurality of first rollers, and the first rollers rotate while the wheel disc group turns. The dynamic attitude stabilization assembly provides dynamic multi-point support through a liftable front and rear support unit. The closed-loop measurement and control module senses the environment through a sensing system. The three modules cooperatively execute a bionic climbing gait control strategy, which comprises the steps of cooperatively controlling the rotation of the rollers and the inching of the wheel disc based on feedback to accurately fall after stepping and overturning, and controlling the asynchronous extension and retraction of the front supporting unit to realize stable gravity center migration. The invention realizes stable and continuous full-scene self-adaptive movement and provides high-safety and comfortable riding experience for users.

Inventors

  • WANG WEIGUO
  • WANG CHENXI

Assignees

  • 王伟国

Dates

Publication Date
20260505
Application Date
20260202

Claims (12)

  1. 1. The self-adaptive stair climbing manned stair climbing machine comprises a seat (1) and a driving mechanism, and is characterized in that the driving mechanism comprises: the self-adaptive stair climbing assembly is arranged on two sides of the rear end of the seat (1), and comprises a wheel disc group (2) capable of being controlled to turn stepwise and a plurality of first rollers (3) which are circumferentially distributed and can be independently driven, wherein when in a stair climbing state, the first rollers (3) are alternately switched into a climbing driving state or a supporting bearing state in contact with a step plane through the turning of the wheel disc group (2), and in the climbing driving state, the first rollers are simultaneously rotated to eliminate pose errors; The dynamic attitude stabilizing assembly comprises at least two groups of front supporting units (8) capable of being lifted independently and a group of rear steering supporting units (9) capable of being lifted independently, wherein the front supporting units (8) are symmetrically arranged on two sides of the front end of the seat (1), and the rear steering supporting units (9) are arranged at symmetrical shafts of the rear end of the seat (1); The closed-loop measurement and control module is integrated with a sensing system for sensing the relative position information of a key interface between the stair climbing machine and the environment, wherein the sensing system comprises a displacement sensing unit for non-contact ranging and a contact sensing unit for detecting the contact state of a front supporting unit (8) and a step elevation; the self-adaptive stair climbing component and the dynamic gesture stabilizing component are controlled by feedback information of the closed-loop measurement and control module and work cooperatively, so that the stair climbing machine can automatically execute a bionic climbing gait control strategy under the control of the closed-loop measurement and control module, and the strategy comprises the following steps: In the active wheel pose cooperative control stage, when the wheel disc group (2) completes one intermittent rotation, a group of first rollers (3) is switched to a climbing driving state, and in the state, the rotation of the first rollers (3) and the inching of the wheel disc group (2) are synchronously controlled according to the feedback of the displacement sensing unit so as to eliminate pose errors generated by intermittent rotation, and the first rollers (3) are precisely rolled to a climbing range preset in a step plane; Controlling at least two front supporting units (8) in the dynamic attitude stabilizing assembly to execute asynchronous telescoping while the first rollers (3) are precisely abutted, so that the supporting configuration of the stair climbing machine is stably switched among at least four scattered supporting points to realize continuous and stable migration of the center of gravity across steps, wherein the at least four scattered supporting points comprise a group of first rollers (3) in a supporting and bearing state and at least two front supporting units (8); wherein the rear steering support unit (9) is lowered and loaded mainly when the stair climbing machine turns on the floor during the configuration transition from the landing to the level ground.
  2. 2. The self-adaptive stair climbing manned machine according to claim 1, wherein the self-adaptive stair climbing assembly comprises a turnover driving module (5) and a rolling driving module (6), the turnover driving module (5) is in transmission connection with the wheel disc set (2) and is used for driving the wheel disc set (2) to perform stepping turnover in a controlled manner, the rolling driving module (6) is respectively in driving connection with each first roller (3) and is used for driving each first roller (3) to rotate in a controlled manner, and fine adjustment of the rotation speed and direction of the first rollers (3) in a climbing driving state can be performed in the active wheel pose cooperative control stage.
  3. 3. The self-adaptive stair climbing machine according to claim 2, wherein the wheel disc set (2) comprises a first wheel frame (2.1) and a second wheel frame (2.2) which are arranged oppositely, and a connecting shaft (2.3) for connecting the first wheel frame (2.1) and the second wheel frame (2.2), and a plurality of first rollers (3) are supported between the first wheel frame (2.1) and the second wheel frame (2.2) through respective first rotating shafts (4).
  4. 4. The self-adaptive stair climbing machine according to claim 3, wherein the rolling driving module (6) comprises a second motor (6.1), an annular driving part (6.2) driven by the second motor (6.1), a distributed driving chain assembly for connecting the annular driving part (6.2) with each first rotating shaft (4) and a limiting ring (6.6) coaxially arranged with the annular driving part (6.2), the distributed driving chain assembly comprises a plurality of driving gear sets (6.3) distributed along a circumferential array of the wheel disc group (2), first driving gears (6.4) sleeved on the first rotating shafts (4) and driving chains (6.5), the driving gear sets (6.3) are staggered with the first driving gears (6.4) and are in driving connection through the driving chains (6.5), and the annular driving part (6.2) is in driving connection with each driving gear set (6.3) to form a single driving ring (6.3) for being in axial abutment with the limiting ring (6.2) of each first driving ring (6.1).
  5. 5. The self-adaptive stair climbing manned machine according to claim 4, wherein the turnover driving module (5) comprises a first motor (5.1) and a mounting base (5.2) fixed on a frame of the stair climbing machine, the wheel disc group (2) is rotatably connected with the mounting base (5.2) through a rotary supporting piece (7.1), and the first motor (5.1) is fixedly arranged on the mounting base (5.2) and connected with the wheel disc group (2) through a gear pair (5.3) to drive the wheel disc group (2) to turn.
  6. 6. The self-adaptive stair climbing machine for carrying people according to claim 5, wherein the seat (1) is installed through a supporting frame (7) detachably connected with the installation base (5.2), and the second motor (6.1) is fixedly arranged on the supporting frame (7).
  7. 7. The self-adaptive stair climbing manned machine according to claim 3, wherein the front support unit (8) comprises a first support assembly (8.1) and a second support assembly (8.2) which are arranged at intervals along the left-right direction of the seat (1), the first support assembly (8.1) is farther away from the longitudinal center plane of the seat (1), the first support assembly (8.1) and the second support assembly (8.2) comprise support legs which can be independently telescopic and support wheels which are arranged at the bottom ends of the support legs, and the support legs are driven to lift by respective driving devices.
  8. 8. The self-adaptive stair climbing manned stair climbing machine according to claim 7, wherein the rear steering support unit (9) comprises a liftable steering support leg arranged on a longitudinal symmetry axis of the rear end of the seat (1) and an omnidirectional wheel arranged at the bottom end of the steering support leg.
  9. 9. The self-adaptive stair climbing manned machine according to claim 8, wherein the displacement sensing unit comprises at least one wheel base sensor, at least one front support leg height sensor and at least one rear support leg height sensor, the wheel base sensor is arranged on the self-adaptive stair climbing component and used for measuring the distance between the first roller (3) and the elevation of the step, the front support leg height sensor is arranged on the support leg of the front supporting unit (8) and used for measuring the ground contact height of the support leg, the rear support leg height sensor is arranged on the support leg of the rear steering supporting unit (9) and used for measuring the ground contact height of the support leg, and the contact sensing unit comprises at least one travel switch (10) arranged on the bearing wheel and used for detecting the contact state of each supporting unit and the elevation of the step.
  10. 10. The self-adaptive stair climbing manned machine according to claim 1, wherein the bionic climbing gait control strategy further comprises a level ground moving mode, in which the closed loop measurement and control module controls the self-adaptive stair climbing assembly to drive the first roller (3) to rotate to provide travelling power and controls each supporting unit in the dynamic gesture stabilizing assembly to shrink, so that the stair climbing machine is supported and moved by a group of the first rollers (3) together with at least one pair of front wheels (11) arranged on two sides of the front end of the seat (1).
  11. 11. A bionic climbing gait control method for a self-adaptive stair climbing manned stair climbing machine according to any one of claims 1 to 10, comprising the following closed-loop self-adaptive control process: The positioning and calibrating process of the climbing driving wheel comprises the steps of controlling a wheel disc group (2) of the self-adaptive stair climbing assembly to perform stepping overturning, switching a first roller (3) to a climbing driving state, and enabling the first roller (3) to roll to a climbing range preset in a step plane by cooperatively adjusting rotation of the first roller (3) and inching of the wheel disc group (2) based on feedback of the closed-loop measurement and control module; When a supporting unit contacted with the plane of the current step moves to be contacted with the elevation of the next step, controlling the dynamic gesture stabilizing assembly to execute supporting point alternating operation, namely enabling the supporting unit contacted with the plane of the current step to shrink off the ground and enabling the other supporting unit contacted with the plane of the next step to stretch and touch the ground, so that the stable upward movement or downward movement of the gravity center of the stair climbing machine is realized on the premise of maintaining at least four points of support; The machine body step lifting and state resetting process comprises the steps of driving the first roller (3) in an accurate abutting state to rotate so as to drive the whole stair climbing machine to ascend or descend by one step along the elevation of a step, then controlling the wheel disc group (2) to step and overturn, enabling the first roller (3) serving as a climbing driving wheel to be converted into a supporting and bearing state in contact with the plane of the step, and preparing the next first roller (3) to enter the climbing driving state; The climbing driving wheel positioning and calibrating process, the supporting configuration dynamic switching and gravity center shifting process and the machine body stepping lifting and state resetting process are circularly executed, so that continuous and stable automatic stair climbing is realized.
  12. 12. The bionic climbing gait control method according to claim 11, wherein after completing a stair climbing or descending cycle, when the stair climbing machine is positioned at the last step level with the floor, a platform-to-level ground support configuration transition process is performed, comprising the following control phases performed in sequence: A step plane stabilization and load preparation stage, wherein at least one first roller (3) in a supporting and bearing state is controlled to roll and position on a final stage step plane, and meanwhile, one front supporting unit (8) in the dynamic attitude stabilization assembly is controlled to descend so that the bearing wheel contacts the step plane to share the load, so that a stable temporary supporting configuration is formed; The machine body translation and support polygon expansion stage comprises driving the first rollers (3) to rotate so as to translate the stair climbing machine to the floor, controlling at least one group of differential rotation of the first rollers (3) and lowering of the rear steering support unit (9) in the process of completing steering of the translation, so that the omni-directional wheels of the stair climbing machine contact the floor, and expanding the support range of the machine body from a level plane to the floor so as to realize steering movement on the floor; and a flat ground running configuration recovery stage, wherein the height of each supporting unit is adjusted to enable the front wheel (11) at the front end of the seat (1) to be in contact with the floor, and then, each supporting unit of the dynamic posture stabilization assembly is controlled to retract and leave the ground, and the main driving and supporting function is transferred to the front wheel (11) and at least one group of first rollers (3) cooperated with the front wheel, so as to recover to the flat ground running configuration.

Description

Self-adaptive stair climbing manned stair climbing machine and bionic climbing gait control method Technical Field The invention relates to the technical field of stair climbing machines, in particular to a self-adaptive stair climbing manned stair climbing machine and a bionic climbing gait control method. Background At present, stair climbing equipment for users with mobility impairment is mainly divided into crawler type, star wheel type and the like. The crawler type stair climbing machine realizes stair climbing by means of continuous contact of the crawler and steps, is relatively stable in movement, and has obvious defects that firstly, the friction resistance between the crawler and the ground is extremely high when the crawler is unfolded, the crawler cannot be smoothly pushed on a flat ground, the crawler is manually retracted every time a stair corner or a stair platform is encountered, the crawler is switched into a wheel type mode, the operation is extremely complicated, the conveying efficiency is low, secondly, the crawler is heavy in structure and large in turning radius, the trafficability in narrow spaces such as a stair half-layer platform is poor, and thirdly, the crawler can continuously scrape and abrade the edge of the stair in the stair climbing process. The star wheel type stair climbing machine realizes stair climbing through wheel set overturning formed by a plurality of small wheels, and has a relatively light structure. However, the stair climbing process is essentially periodic impact and fall of wheel groups, so that the gravity center of the equipment is severely fluctuated, an occupant can feel obvious jolt and discomfort, potential safety hazards exist, and the comfort is poor. At the same time, its stability and flexibility in flat ground travel are also often limited by the structure. Whether crawler-type or star-wheel-type, the common problems of the prior art are that the climbing motion and the flat ground moving mode are fractured, frequent manual intervention and switching are needed, the motion process is not stable enough, continuous and linear migration of the gravity center cannot be effectively controlled, the self-adaptive sensing and closed-loop adjusting capability on the environment (such as the step size and the platform position) is lacking, and the intelligent degree is low. These drawbacks seriously affect the user experience, safety and use efficiency of the device, limiting its widespread use in daily life. Therefore, a new stair climbing device that can automatically, stably and safely adapt to various scenes such as stairs, flat ground and the like without frequent operation intervention of users is needed. Disclosure of Invention Aiming at the defects, the invention provides the self-adaptive stair climbing manned stair climbing machine and the bionic climbing gait control method, which realize stable and continuous climbing and full scene self-adaptive movement with the bionic gait and finally provide high-safety and high-comfort riding experience without intervention for users. The invention provides a self-adaptive stair climbing manned stair climbing machine, which comprises a seat and a driving mechanism, wherein the driving mechanism comprises: The self-adaptive stair climbing assembly is arranged on two sides of the rear end of the seat, comprises a wheel disc group capable of being controlled to overturn in a stepping mode and a plurality of first rollers which are distributed in the circumferential direction and can be driven independently, and is used for alternately switching different first rollers into a climbing driving state or a supporting bearing state which is in contact with a step plane through overturning of the wheel disc group when in a stair climbing state, and the first rollers simultaneously rotate in the climbing driving state so as to eliminate pose errors; The dynamic attitude stabilizing assembly comprises at least two groups of front supporting units capable of independently lifting and a group of rear steering supporting units capable of independently lifting, wherein the front supporting units are symmetrically arranged on two sides of the front end of the seat, and the rear steering supporting units are arranged at symmetrical shafts of the rear end of the seat; The closed-loop measurement and control module is integrated with a sensing system for sensing the relative position information of a key interface between the stair climbing machine and the environment, wherein the sensing system comprises a displacement sensing unit for non-contact ranging and a contact sensing unit for detecting the contact state of a front supporting unit and a step elevation; wherein, self-adaptation climbing subassembly, dynamic gesture stabilize the feedback information that the subassembly was controlled by closed loop measurement and control module, the three collaborative work for climbing machine can be under the control of closed